WARP1: Towards walking in rough terrain: control of walking
2003 (English)In: Climbing and walking robots: and their supporting technologies, 2003, 467-474 p.Conference paper (Refereed)
This paper describes further results from making the four-legged robot WARP 1 capable of walking in rough terrain. In this work, WARP1'S special foot length sensors (FLS) are used to improve leg control during footfall, footlift and support. It is shown that using the FLS can reduce the duration of a footfall without increasing disturbances on the trunk. This strategy has been used for walking over obstacles, as described in a companion paper.
Place, publisher, year, edition, pages
2003. 467-474 p.
IdentifiersURN: urn:nbn:se:kth:diva-9029ISI: 000186071100056OAI: oai:DiVA.org:kth-9029DiVA: diva2:14568
6th International Conference on Climbing and Walking Robots (CLAWAR 2003) CATANIA, ITALY, SEP 17-19, 2003 Themat Network CLAWAR 2
QC 201008312006-01-262006-01-262010-12-07Bibliographically approved